Micro-manipulator



Search Roon Oct. 20, 1931.

J. H. EMERSON MICRO MANIPULATOR Filed sept. 9. 1930 3 Sheets-Sheet l f7Werzor Zgvru'o ma,

nU C un. n... T.. a @u .O

Oct. 20, 1931. J. H. EMERSON `V MICRO MANIPULATOR Filed Sept. 9. 1930 3Sheets-Sheet 2 4 1 f m ,rw .f my 9% wmf Q a. m W w h, f mf um. m 4 W fDCL 20, 1931. J, H, EMERSQN 1,828,460

MICRO MANIPULATOR Filed Sept. 9, 1930 3 Sheets-Sheet. 3

Z wwe Vaio 7* J0 ma? 0?/ 5y l my Patented Oct. 20, 1931 UNITED STATESJOHN' H. EMERSON, OF CAMBRIDGE, MASSACHUSETTS MICRO -MANIPULATORApplication led September 9, 1930. Serial No. 480,635.

This invention relates to adjustable holders or manipulators, andparticularly to devices of this character which are adapted t0 move andaccurately position an element Within a very small region.

This invention is particularly applicable to devices known asmicro-manipulators which are employed to position a dissecting needle ormicro-pipette in any desired position in the field of a high-poweredmicroscope. Furthermore, a micro-manipulator of this character is alsoadapted readily to effect a proper positioning or movement of a slide inrelation to the field of vision of a microscope.

Heretofore, relatively complicated micromanipulators have been providedwhich have been characterized by springs, a multiplicity of adjustingscrews, etc., which have resulted in a discernible lack of smoothness inoperation, and which have been rather troublesome to use due to themultiplicity of controls, this factor also making it rather didicult fora user to learn how to manipulate one of these devices.

The present invention provides a simple arrangement of moving parts,neither screws, springs, nor gears being primarily relied upon in thepositioning of elements. Aparticularly advantageous feature of thepreferred embodiment of the invention resides in the fact that a singlecontrol member may be employed to move the controlled element, such asthe micro-pipette or slide, in any direction in a given plane, such as ahorizontal plane, a. second control being provided to move thecontrolled part in a direction at right angles thereto, as in a verticaldirection. Preferably, the control handle which regulates the horizontalmovement of the needle, slide, or the like, is moved in a directionopposite to the movement of the controlled element itself, so that asseen under the microscope, the element has the same direction ofmovement as the control handle. Accordingly, a device of this charactermay be operated very readily without previous experience upon the partof the user.

Another advantageous feature of a device of this character is its readyadjustability li'aracter may be'made of a relatively small number ofsturdy parts and at a comparatively low cost of manufacture, and isparticularly characterized by being free from small, delicate,complicated parts which are ",1; (ily expensive and are diiiicult ltomaintain in operating adjustment.

In the accompanying drawings:

Fig. 1 is an elevational view of a preferred embodiment of theinvention;

Fig. 2 is a top view of the same;

Fig. 3 is an end view of a portion of the mechanism which isparticularly adapted to control the positioning of an element in oneplane, as a horizontal plane;

Fig. 4 is an end elevation of the apparatus, certain parts being brokenaway;

Fig. 5 is a plan view of the supporting parts for a slide which may beconnected to the apparatus;

Fig. 6 is a view, partly in elevation and partly in section, of themeans for adjusting the element in a horizontal plane;

Fig. 7 is an elevational view of the assembly sh`own in Fig. 6;

Fig, 8 is a view of one control handle and related parts;

Fig. 9 is a similar view of the other control handle and related parts;and

Fig. 10 is a section on line 10--10 of Fig. 1.

Referring to the accompanying drawings, and rst more particularly toFlg. 1, apparatus of this character preferably is provided with anysuitable support, such as the planar bas'e 1, which may also form thebase for the microscope and microscope stage. Base 1 is provided with avertically disposed flange or wall portion 11, which is spaced from oneend of the base and which preferably may have a pair of parallel,vertically extending V-shaped ribs 12 which engage complementarilyshaped grooves in a plate 14, thus affording means to guide the plate 14in a vertical path (Fig. 10). A socket plate 17 preferably is pivotallyconnected by pintle elements 18 to an extension 19 of the base 1 andprovides a socket groove 20 which engages a substantiallysemi-cylindrical nut 21 that is threaded upon the inner end of a controlhandle 22. A countersunk opening 25 is provided in alignment with thegroove 2O and permits the angular movement of control handle 22 inrelation to the plate. A semi-spherical head 23 is secured to the innerend of this handle and engages a suitable seat 24 in plate 14. A spring27 is pivotally connected to base extension 19 by a screw 28 and urgesthe grooved plate 17 against the nut 21, thereby frictionally engagingthe same and holding the plate 14 in firm engagement with the V-shapedribs upon the plate 11. rIhe semi-cylindrical element 21 thus provides apivot center about which the handle 22 may swing to vary the verticalpositioning of the plate 14 in relation to plate 11; the semi-sphericalhead 23 similarly provides a pivot center for the lever and verticallymovable plate 14; these pivot centers may be closely-spaced so that theplate 14 moves through a vertical path which has a length that is but avery small fraction of that through which the outer end of handle 22moves. A suitable lock nut 30 may be disposed upon the threaded innerend of the handle 22 to permit' the locking of the same in relation tothe semi-cylindrical nut 21 (Fig. 9). It is evident that the outer endof the handle 22 is provided with a knurled head portion 23a whichallows the ready rotation of the handle to permit the adjustment of thesemi-spherical end 23 in relation to the semi-cylindrical nut 21,thereby varying the leverage with which the handle is adapted to effectthe movement of the plate 14. Obviously as the members 21 and 23 arebrought into closer juxtaposition, for example. when the plane face ofelement 23 substantially engages the recess 21a in the element 21, thisleverage will become smaller until almost infinitely small movement ofthe plate 14 results from the movement of the handle 22 through acomparatively wide range.

A horizontal planar element or plate 33 is secured to the upper end ofthe vertically movable plate 14 and is provided with a pair of V-shapedribs 34 which engage complementarily shaped grooves inthe bottom of ahorizontally slidable plate 35; the latter in turn is provided with apair of V-shaped ribs 36 which extend at right angles to ribs 34 andengage grooves in the bottom of a third horizontally positioned plate37. Plate 37 preferably has a central socket or seat 39V which engages asemi-spherical element 40 secured to the lower end of a control handle42. This handle adjoining member 4()v is threaded and carries asemi-spherical nut 44 and a lock nut 45 (Fig, 8).

A socket plate 50 is pivotally connected by pintle elements 51 to anlupwardlyprojecting lug 52 at one end of' plate 33. A spring 55 may bepivotally connected, as by screw 56. to the upper part of the extension52, its end portion holding the socket plate 50 in firm engagement withthe semi-spherical nut 44. The upper end of the handle 42 is providedwith a knurled enlargement designated by numeral 60, to permit the readyrotation of a handle. Spring 55 holds the plate 50 in such firmengagement with the nut 44 that rotation of the nut in response torotation of handle 42 is prevented unless the two semispherical elements44 and 40 are in .engagement with each other, or unless the lock nut 45prevents relative movement between the handle and nut 44. Accordingly,when the lock nut 45 is'loosened the spacing of the r.

elements 40 and 44 may be readily varied so that the leverage exerted bythe control member 42 upon the plate 37 may be altered. In

other words, the semi-spherical elements 40 and 44 define pivot centersbetween the handle and the plates 37 and 50 respectively, the' spacingof' these centers determining the range of movement of plate 37 inresponse to the movement of handle 42.

The plate 37 is provided with a pair of I. upwardly extending studs 70,Figs. 3 and 4, A

which may receive thumb screws 71, and may engage slots 73 at the sideof a bracket bar 74; the latter carries an upstanding stud or post 75which may engage any suitable means to receive a needle, pipette vorslide holder.

Thus, as shown in Figs. 1 and 2, a set screw 79 secures a block 77 inproper adjusted relation to the post 75, the block 77 having a suit.-

able socket 78 and cooperating set screw 76 .y

to receive and clamp the end of the .needle -90 in place. As shown inFig. 5, a bar 80 may be clamped by a thumb"screw 81 to the post 75 1 andmay carry fingers 84 which are adapted to support a suitable slide 89 ofglass or thel like. It is thus evident that the apparatus is adapted tobe quickly adjustedither to support a needle or a suitable slide.

As shown, for example in Fig. 10, the

sockets which engage the semi-spherical elfements in apparatus of thischaracter may be formed by providing a comparatively nar# row seataround the edge of a hole extendi the desired point, and then shapingthe edge of the hole with a cutter to provide the curved seat.

In the operation of a device of this cha r- 'y acter, the element beingcontrolled or moved is connected to the posts 75 upon the plate 37 byany suitable bracket, such as that` illustrated in Figs. 1 and 2 or thatillustrated in Fig. 5. Obviously the connection of the su pportingbracket, such as the block 77 or arm 8O with the post 75, permits thefirst approximate positioning of the element. The handle 23 is thenmoved vertically to position the element in the desired horizontalplane. 'the handle 60 may then be swung in any desired direction to movethe element in the horizontal plane in a direction corresponding to thedirection of handle movementbut opposite thereto. Since. however, therelative position of elements under a microscope is reversed, the handleis moved in the direction in which the element appears to move as seenunder the microscope. It is particularly worthy of notice that theadjustments provided by the nuts engaging the threaded portions of thecontrol handles permit a very wide variation in the range of movementwhich may be imparted to the control element. Obviously as the handle 23is swung in a vertical direction, i. e., between the positions indicatedin dot and dash lines in Fig. l, the plate 12 moves vertically, thusmoving the Whole upper portion of the mechanism, including plates 33,35, 37, bar 74, post 7 5 and the element connected thereto. On the otherhand, the horizontal movement which is imposed by the handle 42 maycause the sliding of the plate 35 in relation to the plate 33 and/or thesliding of the plate 37 in a direction at right angles thereto; thus themovement ofthe handle 60 in any direction results in a substantiallysimilar movement in an opposite direction of the plate 37 and thecontrolled element carried thereby. The springs 27 and 55 are pivotallymounted so that they may be swung about their pivots readily to vary theforce with which the corresponding plates are held against the nuts 44and 21 respectively.

It is evident that apparatus of this character may be manufactured at acomparatively low cost, that it is formed of sturdy parts which do notrequire delicate adjustment, and that the device is very simple tooperate; for example, when an adjustment in both vertical and horizontaldirections is desired, either one or both hands may be employed tocontrol the handles 22 and 42 respectively, while if only horizontalpositioning of the element is required, but one hand only and that thisinvention includes all modifications and equivalents which fall withinthe scope of the appended claims.

I claim:

l. Apparatus of the class described comprising a swinging lever, anelement holder, a support for the holder, a part providing a pivot aboutwhich the lever swings, and a pivotal connection between the lever andsupport, said pivot and pivotal connection being in close juxtaposition,whereby the support and holder have a minute movement in rcsponse to thelever movement through a `substantial distance.

2. Apparatus of the class described com prising a swinging lever, asocket plate, a part at the inner end of the lever providing a sphericalsurface in engagement with said. plate, a support, said support having apart in engagement with a spherical surface adjoining said lirst-namedsurface, whereby the movement of the lever end in one direct-ion causesmuch smaller movement of the holder.

3. Apparatus of the class described comprising a guide part, a movablepart slidable in relation to the guide part, a socket in said movablepart, a socket plate having a socket yieldably urged toward said socketiu the movable part, a swinging lever, said lever having parts providingcurved surfaces in engagemenn with said sockets and defining juxtaposedpivot centers, whereby the movable part has a minute movement inresponse to a substantial movement of the lever.

4. Apparatus of the class described comprising a guide part, a movablepart slidable in relation to the guide part, a socket in said movablepart, a socket plate connected to the guide part and having a socketyieldably urged toward said socket in the movable part, a swinginglever, said lever having parts providing substantially semi-sphericalsurfaces in engagement with said sockets, and delining juxtaposed pivotcenters, whereby the movable part has a minute movement in response to asubstantial movement of the lever.

5. Apparatus of the class described comprising a guide part, a movablepart slidable in relation to the guide part, a swinging lever having anend portion providing a curved surface and engaging a complementarilyformed'recess in the movable part, said surface defining a pivot centerat the end of the lever, an element associated with said lever andproviding an oppositely curved surface defining a pivot center slightlyspaced from said first center, and a socket plate connected to the guidepart and yieldably engaging said lever element.

6. Apparatus of the class described comprising ay guide part, a' movablepart slidable in relation to the guide part, aswinging lever having anend portion providing a curved surface and engaging a complementarilyformed recess-in the movable part said surface defining a pivot centerat the end of the lever, an element associated with said lever andproviding an oppositely curved surface dening a pivot center slightlyspaced from said first center, and a movable socket plate connected tothe Xed part and yieldably engaging said lever element, said elementhaving a threaded engagement with the lever, whereby the s acing of thecenters may be adjustably varied).

7. Apparatus of the class described comprising a guide part, a movablepart slidable in relation to the guide part, a swinging lever having anend portion providing a substantially semi-spherical curved surface andengaging a complementarily formed recess in the movable part, saidsurface defining a pivot center at the end of the lever, an elementassociated with said lever and providing an oppositely substantiallysemi-spherical curved surface defining a pivot center slightly spacedfrom said first center, and a socket plate connected to the guide partand yieldably engaging said element.

8. Apparatus of the class described comprising a guide parte, ajuxtaposed movable part, the latter being movable in a plane, a socketplate having a socket, said movable part also being provided with asocket, a lever having elements providing curved surfaces engaging thesockets and defining juxtaposed pivot centers, a plate connected to themovable part, a second movable part, a lever, and a socket plateassociated with said plate.

9. Apparatus of the class described, comprising an element holder, a'movable support for the holder, and manipulating means to effect theminute movement and precise positioning of said support and holder, saidmeans including a swinging lever and means whereby the lever effectsmovement of the support in any direction within a plane in response tothe lever movement in the opposite direction.

10. Apparatus of the class described, comprising an element holder, amovable support for the holder, and manipulating means to effect theminute movement and positioning of said support and holder, said meansincluding a swinging lever and means Whereby the lever effects movementof the support in any direction within a plane in response to the levermovement in the opposite direction, and a second lever and manipulatingmeans associated with said second lever for causing the movement of saidsupport and holder in a direction normal to said plane, whereby theholder may be moved in any direction by movement of the two levers.

11. Apparatus of the class described, comprising a part, a plateslidably mounted in relation to said part, a guide groove and ribdeiining the path of movement of said plate in relation to said part, asecond plate superposed on said plate, a guide groove and rib definingthe path of movement of the second plate upon the first plate, saidgrooves and ribs extending in directions at right angles to each otherbut in parallel planes, a swinging socket plate connected to said part,a lever having a substantially semi-spherical element engaging a socketin said plate and defining a pivot center, a second element on the leverproviding a substantially semi-spherical surface engaging a socket inthe second plate, and defining a pivot center slightly spaced from saidirst-named center, and an element holder mounted on said second plate,whereby movement of said lever causes slight movement of the secondplate and holder in a corresponding but opposite direction.

12. Apparatus of the class described comprising a guide part, a movablepart, a socket plate having a pivotal connection with the guide part, aspring secured to the latter and engaging the plate, and a control leverextending through an opening in the socket plate, a semi-sphericalelement secured to the lever end and engaging a socket in the movablepart, a second element upon the lever having a curved surface engaging asocket in the socket plate, said elements providing pivot centers inclose juxtaposition, the spring holding the elements in engagement withtheir respective sockets.

13. Apparatus of the class described comprising a guide part, a movablepart, a socket plate having a pivotal connection with the guide part, aspring secured to the latter and engaging the plate, and a control levereX- tending through an opening in the socket plate, a semi-sphericalelement secured to the lever end and engaging a socket in the movablepart, a nut in threaded engagement `With the lever and having asemi-spherical surface engaging a socket in the plate, said element andnut providing pivot centers in close juxtaposition, the spring holdingtheelements in engagement with their respective sockets and holding thenut against rotation with the lever when the latter is rotated, wherebythe spacing of the pivot centers may be readily varied by rotating thelever.

14. Apparatus of the class described comprising a guide part, a movablepart, a socket plate having a pivotal connection with the guide part, aspring pivotally connected to the guide part and having an end engagingthe plate, the spring being movable about its pivotal connection to varythe force with which it engages the plate, and a control lever extendingthrough an opening in the socket plate, a semi-spherical element securedto the lever end and engaging a socket in the movable part, a secondelement having a curved surface engaging a socket in the socket plate,said elements providing pivot centers in close juxtaposition, the springholding the elements in engagement with their respective sockets.

15. Apparatus of the class described comprising an element holder,positioning means for moving the holder in any direction within a givenplane, and a second positioning means to vary the position of saidplane, each of said positioning means having a single control lever witha pair of curved surface elements defining juxtaposed pivot centers, asocket plate providing a relatively fixed fulcrum part for one of saidelements of each pair, and a movable part having a socket engaging theother of said elements, the relatively fixed part of one of said meansbeing mounted upon the movable part of the other means, and the holderbeing mounted upon the movable part of said second means.

16. Apparatus of the class described comprising a fixed part, a movableplate, said plate and part having tongue and groove means dening avertical path for the movable plate, an element holder connected to saidplate, a swinging socket member connected to the fixed part, a springconnected to said part and tending to swing said member toward theplate, a control lever extending through the socket member, said levercarrying oppositely curved elements engaging sockets in the plate andmember and defiiing juxtaposed pivot centers.

17. Apparatus of the class described comprising a lower support, a plateslidable on said support, a tongue and groove means provided by thesupport and plate whereby the latter is constrained to slide in onedirection, a second plate superposed on the first plate and constrainedby la second tongue and groove means to have a sliding movement inrelation to the first plate at right angles to the direction of thefirst plate movement, a socket plate pivotally connected to said supportand overhanging the second plate, a control lever extending through saidsocket plate and carrying substantially semi-spherical elements definingjuxtaposed pivot centers and engaging sockets in the second plate andsocket plate, a spring pressing the latter against the correspondingelement, and a holder for a part to be positioned, said holdg er beingmounted on the second plate, whereby the lever may be swung to vary thepositioning of the part in a plane.

18. Apparatus of the class described comprising a lower support, a plateslidable on said support, a tongue and groove means provided by thesupport and plate whereby the latter is constrained to slide in onedirection, a second plate superposed on the first plate and constrainedby a second tongue and groove means to have a sliding movement inrelation to the rst plate at right angles to the direction of the irstplate movement, a socket plate pivotally connected to said support andoverhanging the second late, a control lever extending through saifl3socket late and carrying substantially semi-spher- 1cal elementsdefining juxtaposed pivot cen- Search doom ters and engaging sockets inthe second plate and socket plate, a spring pressing the latter againstthe corresponding element, a holder mounted on the second plate, wherebythe lever may be swung to vary the positioning of the part in a plane,and means for positioning the lower support vertically, wherebyuniversal movement of the part may be attained.

19. Apparatus of the class described comprising a lower support, a plateslidable on said support, a tongue and groove means provided by thesupport and plate whereby the latter is constrained to slide in onedirection, a second plate superposed on the rst plate and constrained bya second tongue and groove means to have a sliding movement in relationto the first plate at right angles to the direction of the first platemovement, a socket plate pivotally connected to said support andoverhanging the second plate, a control lever extending through saidsocket plate and carrying substantially semi-spherical elements definingjuxtaposed pivot centers and engaging sockets in the second plate andsocket plate, a spring pressing the latter against the correspondingelement, a holder mounted on the second plate, whereby the lever may beswung to vary the positioning of the part in a plane, one of saidelements upon the lever being fixed against longitudinal movement inrelation to the lever, the other having a threaded adjustment along thelever whereby the spacing of the pivot centers and consequent range ofmovement of the part in response to handle movement may be varied.

Signed by me at Boston, Massachusetts,

